WO2017215822A1 - Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase electric machine, which electric machine is fed by means of a pwm-controlled inverter - Google Patents

Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase electric machine, which electric machine is fed by means of a pwm-controlled inverter Download PDF

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Publication number
WO2017215822A1
WO2017215822A1 PCT/EP2017/059900 EP2017059900W WO2017215822A1 WO 2017215822 A1 WO2017215822 A1 WO 2017215822A1 EP 2017059900 W EP2017059900 W EP 2017059900W WO 2017215822 A1 WO2017215822 A1 WO 2017215822A1
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Prior art keywords
current vector
time
amplitude
machine
electric machine
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PCT/EP2017/059900
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German (de)
French (fr)
Inventor
Marco Roetzer
Ulrich Vollmer
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Robert Bosch Gmbh
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Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN201780036631.0A priority Critical patent/CN109348737A/en
Priority to JP2019517142A priority patent/JP2019522958A/en
Priority to EP17720451.8A priority patent/EP3469704B1/en
Priority to US16/308,808 priority patent/US10693398B2/en
Publication of WO2017215822A1 publication Critical patent/WO2017215822A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors

Definitions

  • the invention relates to a method for adjusting an amplitude of a
  • Adjusting the amplitude of the voltage injection can influence the signal-to-noise ratio of the determined rotor position.
  • Rotor position is still not too noisy, the signal-to-noise ratio must be improved by the amplitude of the voltage injection is increased. Accordingly, at a constant speed of the machine, the filter time constant can be increased, thereby improving the signal-to-noise ratio. Thus, the amplitude of the voltage injection can also be reduced.
  • the deviation between a desired rotational speed and an actual rotational speed of the electrical machine is determined to adjust the amplitude of the voltage injection and adjusted in response to this deviation, the amplitude of the high-frequency voltage injection.
  • Sensorless control attempts to determine the rotor position of an electrical machine without using a position sensor.
  • anisotropy-based methods which determine the rotor position via the magnetic anisotropy of the rotor.
  • anisotropy-based methods in addition to the supply of a voltage to be set for the electric machine, there is still a high-frequency voltage injection which causes a high-frequency current change in the
  • Phase currents of the electric machine has the consequence.
  • This current change contains information about the rotor position and thus can be determined from the
  • the invention relates to a method for adapting an amplitude of a voltage injection of a rotating, multiphase, electrical machine fed by means of a PWM-controlled inverter, with at least the following method steps:
  • a Determining a predetermined current vector at a first time, which would be present at a second time on the machine, by means of a voltage equation of the electric machine, in response to a predetermined in a control for driving the electric machine voltage, a determined from the first time phase currents determined Current vector and a speed of the machine, the first time being before the second time,
  • the current vector difference correlates with the deviation between the calculated and the actual rotor position of the machine, with this deviation becoming greater, in particular with rapid speed changes.
  • the signal Noise ratio can be influenced and thus can be reacted by means of the process on the dynamics of the electric machine. It can thereby be achieved that the signal-to-noise ratio of the determined rotor position is sufficiently good due to the adaptation of the amplitude, and at the same time the
  • Noise due to the voltage injection is kept as low as possible.
  • the amplitude of the voltage injection is adjusted such that the more the current vector difference deviates from zero, the greater the amplitude of the voltage injection is selected. It is advantageous here that it is possible to react to the dynamics of the electrical machine. So it is necessary for fast speed changes, the
  • a method step f takes place between the method step c and the method step d, in which the amount of the
  • FIG. 1 shows an exemplary embodiment of the method according to the invention for adapting an amplitude of a voltage injection of a rotating multiphase electric machine fed by means of a PWM-controlled inverter.
  • FIG. 1 shows an exemplary embodiment of the method according to the invention for
  • Adaptation of an amplitude of a voltage injection of a rotating, multi-phase, electrical machine fed by means of a PWM-controlled inverter can be used, in particular, in an anisotropy-based method, which determines the rotor position of a rotating, polyphase, electrical machine, that is to say a three-phase motor, fed by means of a PWM-controlled inverter.
  • a predetermined current vector is determined in a method step a at a first time, which would be present at a second time on a rotating, multi-phase, electric machine fed by means of a PWM-controlled inverter.
  • the predetermined current vector is determined by means of a voltage equation of the electrical machine. This determination is made as a function of a in a control for controlling the electric machine
  • a method step b a real current vector applied to the machine at the second time is determined.
  • the phase currents of the electrical machine are measured and determined therefrom by means of a transformation of the real current vector. From the predetermined current vector and the real current vector is in a
  • Process step c formed a current vector difference. This can be realized, for example, by passing the current vector predetermined at the first time via a delay element which bridges the duration between the first time and the second time, and then at the second time together with the real current vector is supplied to a subtraction node at the second time, which forms the current vector difference. Subsequently, in a method step d, the amplitude of
  • Adjusted current vector difference This can be done, for example, by determining from the current difference a factor which additionally flows into the modulation of the voltage injection, which is usually modulated as a function of the calculated rotor position. Subsequently, the process is terminated.
  • a factor which additionally flows into the modulation of the voltage injection, which is usually modulated as a function of the calculated rotor position.
  • Process step d still a process step e or a process step f.
  • the current vector difference is high-pass filtered.
  • the magnitude of the current vector difference is formed, which represents the length of the current vector difference.
  • Anisotropiebas lying in the rotor position are adapted to the amplitude of the voltage injection.
  • the method can be restarted, for example, at each new scanning step of the control of the electric machine, whereby the methods run in parallel.

Abstract

The invention relates to a method for adjusting an amplitude of a voltage injection of a rotating, multi-phase electric machine, which electric machine is fed by means of a PWM-controlled inverter, comprising at least the following steps: a. determining a predetermined current vector at a first time, which current vector would be present at the machine at a second time, by means of a voltage equation of the electric machine, in accordance with a voltage predetermined in a controller for controlling the electric machine, with a current vector determined from phase currents measured at the first time, and with a rotational speed of the machine, wherein the first time lies before the second time, b. determining a real current vector present at the machine at the second time in accordance with phase currents of the machine measured at the second time, c. forming a current vector difference between the predetermined current vector and the real current vector at the second time, d. adjusting the amplitude of the voltage injection in accordance with the formed current vector difference.

Description

Beschreibung  description
Titel title
Verfahren zur Anpassung einer Amplitude einer Spannungsinjektion einer mittels eines PWM-gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine Stand der Technik Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase, electric machine fed by a PWM-controlled inverter state of the art
Die Erfindung betrifft ein Verfahren zur Anpassung einer Amplitude einer The invention relates to a method for adjusting an amplitude of a
Spannungsinjektion bei einer Bestimmung einer Rotorlage einer mittels eines PWM-gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine durch ein anisotropiebasiertes Verfahren. Voltage injection in a determination of a rotor position of a powered by a PWM-controlled inverter rotating multi-phase electric machine by an anisotropy-based method.
Solch ein Verfahren ist beispielsweise im Artikel„Audible Noise Reduction Method in IPMSM Position Sensorless Control based on High-Frequency Current Injection" von Yuki Tauchi et al. offenbart, welcher 2014 auf der„International Power Electronics Conference" des I EEE veröffentlicht wurde. Mittels derSuch a method is disclosed, for example, in the article "Audible Noise Reduction Method in IPMSM Position Sensorless Control Based on High Frequency Current Injection" by Yuki Tauchi et al., Published in 2014 at the International Power Electronics Conference of I EEE. By means of
Anpassung der Amplitude der Spannungsinjektion lässt sich das Signal-Rausch- Verhältnis der ermittelten Rotorlage beeinflussen. Bei schnellen Adjusting the amplitude of the voltage injection can influence the signal-to-noise ratio of the determined rotor position. At fast
Drehzahländerungen ist es notwendig die Filterzeitkonstante der Speed changes it is necessary the filter time constant of
Rotorlagenbestimmung zu reduzieren, so dass die berechnete Rotorlage der realen Rotorlage ohne zu große Verzögerung folgt. Damit die berechnete Rotor position determination to reduce so that the calculated rotor position of the real rotor position follows without too much delay. Thus the calculated
Rotorlage trotzdem nicht zu stark verrauscht ist, muss das Signal-Rausch- Verhältnis verbessert werden, indem die Amplitude der Spannungsinjektion vergrößert wird. Entsprechend kann bei einer konstanten Drehzahl der Maschine die Filterzeitkonstante vergrößert werden, wodurch das Signal-Rausch-Verhältnis verbessert wird. Somit kann auch die Amplitude der Spannungsinjektion verringert werden. In dem genannten Artikel wird zur Anpassung der Amplitude der Spannungsinjektion die Abweichung zwischen einer Soll-Drehzahl und einer Ist-Drehzahl der elektrischen Maschine bestimmt und in Abhängigkeit von dieser Abweichung die Amplitude der hochfrequenten Spannungsinjektion angepasst. Bei der geberlosen Regelung wird versucht, die Rotorlage einer elektrischen Maschine ohne Verwendung eines Positionssensors zu ermitteln. Dabei können sogenannte anisotropiebasierte Verfahren zum Einsatz kommen, welche die Rotorlage über die magnetische Anisotropie des Rotors bestimmen. Bei diesen anisotropiebasierten Verfahren erfolgt zusätzlich zur Einspeisung einer zu stellenden Spannung für die elektrische Maschine noch eine hochfrequente Spannungsinjektion, welche eine hochfrequente Stromänderung in den Rotor position is still not too noisy, the signal-to-noise ratio must be improved by the amplitude of the voltage injection is increased. Accordingly, at a constant speed of the machine, the filter time constant can be increased, thereby improving the signal-to-noise ratio. Thus, the amplitude of the voltage injection can also be reduced. In the said article, the deviation between a desired rotational speed and an actual rotational speed of the electrical machine is determined to adjust the amplitude of the voltage injection and adjusted in response to this deviation, the amplitude of the high-frequency voltage injection. Sensorless control attempts to determine the rotor position of an electrical machine without using a position sensor. In this case, so-called anisotropy-based methods can be used, which determine the rotor position via the magnetic anisotropy of the rotor. In these anisotropy-based methods, in addition to the supply of a voltage to be set for the electric machine, there is still a high-frequency voltage injection which causes a high-frequency current change in the
Phasenströmen der elektrischen Maschine zur Folge hat. Diese Stromänderung enthält Informationen über die Rotorlage und somit lässt sich aus der Phase currents of the electric machine has the consequence. This current change contains information about the rotor position and thus can be determined from the
Stromänderung über einen geeigneten Modellansatz die Rotorlage bestimmen. Current change via a suitable model approach to determine the rotor position.
Offenbarung der Erfindung Disclosure of the invention
Die Erfindung betrifft ein Verfahren zur Anpassung einer Amplitude einer Spannungsinjektion einer mittels eines PWM-gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine, mit wenigstens folgenden Verfahrensschritten: The invention relates to a method for adapting an amplitude of a voltage injection of a rotating, multiphase, electrical machine fed by means of a PWM-controlled inverter, with at least the following method steps:
a. Bestimmen eines vorbestimmten Stromvektors zu einem ersten Zeitpunkt, welcher zu einem zweiten Zeitpunkt an der Maschine anliegen würde, mittels einer Spannungsgleichung der elektrischen Maschine, in Abhängigkeit von einer in einer Regelung zur Ansteuerung der elektrischen Maschine vorbestimmten Spannung, einem aus zum ersten Zeitpunkt gemessenen Phasenströmen bestimmten Stromvektor und einer Drehzahl der Maschine, wobei der erste Zeitpunkt vor dem zweiten Zeitpunkt liegt, a. Determining a predetermined current vector at a first time, which would be present at a second time on the machine, by means of a voltage equation of the electric machine, in response to a predetermined in a control for driving the electric machine voltage, a determined from the first time phase currents determined Current vector and a speed of the machine, the first time being before the second time,
b. Bestimmen eines an der Maschine zum zweiten Zeitpunkt anliegenden b. Determining a voltage applied to the machine at the second time
realen Stromvektors in Abhängigkeit von zum zweiten Zeitpunkt  real current vector as a function of the second time
gemessenen Phasenströmen der Maschine,  measured phase currents of the machine,
c. Bilden einer Stromvektordifferenz zwischen dem vorbestimmten Stromvektor und dem realen Stromvektor zum zweiten Zeitpunkt, c. Forming a current vector difference between the predetermined current vector and the real current vector at the second time,
d. Anpassen der Amplitude der Spannungsinjektion in Abhängigkeit von der gebildeten Strom vektordifferenz. d. Adjusting the amplitude of the voltage injection in dependence on the formed current vector difference.
Vorteilhaft ist hierbei, dass die Stromvektordifferenz mit der Abweichung zwischen berechneter und tatsächlicher Rotorlage der Maschine korreliert, wobei diese Abweichung insbesondere bei schnellen Drehzahländerungen größer wird. Durch die Anpassung der Amplitude der Spannungsinjektion kann das Signal- Rausch-Verhältnis beeinflusst werden und somit kann mittels des Verfahrens auf die Dynamik der elektrischen Maschine reagiert werden. Hierdurch kann erreicht werden, dass durch die Anpassung der Amplitude das Signal-Rausch-Verhältnis der ermittelten Rotorlage ausreichend gut ist und gleichzeitig die In this case, it is advantageous that the current vector difference correlates with the deviation between the calculated and the actual rotor position of the machine, with this deviation becoming greater, in particular with rapid speed changes. By adjusting the amplitude of the voltage injection, the signal Noise ratio can be influenced and thus can be reacted by means of the process on the dynamics of the electric machine. It can thereby be achieved that the signal-to-noise ratio of the determined rotor position is sufficiently good due to the adaptation of the amplitude, and at the same time the
Geräuschentwicklung aufgrund der Spannungsinjektion möglichst gering gehalten wird. Zudem wird erreicht, dass die Anpassung der Amplitude der Spannungsinjektion innerhalb weniger Abtastschritte der Regelung der elektrischen Maschine erfolgt, wodurch das Verfahren auch für hochdynamische Systeme geeignet ist. Noise due to the voltage injection is kept as low as possible. In addition, it is achieved that the adjustment of the amplitude of the voltage injection takes place within a few scanning steps of the regulation of the electrical machine, whereby the method is also suitable for highly dynamic systems.
In einer vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass im Verfahrensschritt d die Amplitude der Spannungsinjektion derartig angepasst wird, dass je stärker die Stromvektordifferenz von Null abweicht, desto größer wird die Amplitude der Spannungsinjektion gewählt. Vorteilhaft ist hierbei, dass auf die Dynamik der elektrischen Maschine reagiert werden kann. So ist es bei schnellen Drehzahländerungen nötig, die In an advantageous embodiment of the method according to the invention, it is provided that, in method step d, the amplitude of the voltage injection is adjusted such that the more the current vector difference deviates from zero, the greater the amplitude of the voltage injection is selected. It is advantageous here that it is possible to react to the dynamics of the electrical machine. So it is necessary for fast speed changes, the
Filterzeitkonstante beim anisotropiebasierten Verfahren zu reduzieren, so dass die berechnete Rotorlage der realen Rotorlage ohne zu große Verzögerung folgt. Die Größe der Stromvektordifferenz korreliert hierbei mit der Größe der To reduce filter time constant in the anisotropy-based method, so that the calculated rotor position of the real rotor position follows without too much delay. The size of the current vector difference correlates with the size of the
Drehzahländerung der Maschine und auch mit der Abweichung zwischen berechneter und realer Rotorlage der elektrischen Maschine. Somit kann bei einer großen Stromvektordifferenz auf eine schnelle Drehzahländerung geschlossen werden und es sollte die Filterkonstante des anisotropiebasierten Verfahrens reduziert werden. Damit das Signal-Rausch-Verhältnis trotzdem ausreichend gut bleibt, um eine möglichst exakte Bestimmung der Rotorlage der elektrischen Maschine durchzuführen, wird die Amplitude der Spannungsinjektion erhöht. Wird dagegen eine langsame Drehzahländerung, sprich eine kleine Stromvektordifferenz, ermittelt, kann die Filterkonstante erhöht werden, weswegen bereits eine Spannungsinjektion mit einer kleinen Amplitude für ein gutes Signal-Rausch-Verhältnis ausreichend ist. Durch die kleine Amplitude wird die Geräuschentwicklung aufgrund der Rotorlagenberechnung möglichst gering gehalten. Speed change of the machine and also with the deviation between calculated and real rotor position of the electric machine. Thus, with a large current vector difference, a rapid speed change can be inferred, and the filter constant of the anisotropy-based method should be reduced. Nevertheless, in order that the signal-to-noise ratio remains sufficiently good to perform the most accurate possible determination of the rotor position of the electric machine, the amplitude of the voltage injection is increased. If, on the other hand, a slow speed change, that is to say a small current vector difference, is determined, the filter constant can be increased, which is why even a voltage injection with a small amplitude is sufficient for a good signal-to-noise ratio. Due to the small amplitude, the noise due to the rotor position calculation is kept as low as possible.
Gemäß einer vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass zwischen dem Verfahrensschritt c und dem Verfahrensschritt d ein Verfahrensschritt e erfolgt, in welchem die Stromvektordifferenz According to an advantageous embodiment of the method according to the invention, it is provided that between the method step c and the method step d a process step e takes place in which the current vector difference
hochpassgefiltert wird. high pass filtered.
Vorteilhaft ist hierbei, dass die Amplitude der Spannungsinjektion nicht aufgrund von Modellfehlern angepasst wird. So kann durch Modellfehler auch ohne Drehzahländerung eine Stromvektordifferenz entstehen, welche ansonsten zu einer Anpassung der Amplitude der Spannungsinjektion führen würde.  It is advantageous here that the amplitude of the voltage injection is not adjusted due to model errors. Thus, by model error even without speed change, a current vector difference can arise, which would otherwise lead to an adjustment of the amplitude of the voltage injection.
Gemäß einer weiteren vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass zwischen dem Verfahrensschritt c und dem Verfahrensschritt d ein Verfahrensschritt f erfolgt, in welchem der Betrag derAccording to a further advantageous embodiment of the method according to the invention, it is provided that a method step f takes place between the method step c and the method step d, in which the amount of the
Stromvektordifferenz gebildet wird. Current vector difference is formed.
Vorteilhaft ist hierbei, dass sowohl auf eine negative als auch eine positive Stromvektordifferenz identisch reagiert werden kann und die Amplitude der Spannungsinjektion entsprechend für beide Fälle angepasst wird.  It is advantageous here that it is possible to react identically to both a negative and a positive current vector difference and to adjust the amplitude of the voltage injection accordingly for both cases.
Zeichnungen drawings
Fig. 1 zeigt ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zur Anpassung einer Amplitude einer Spannungsinjektion einer mittels eines PWM- gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine. 1 shows an exemplary embodiment of the method according to the invention for adapting an amplitude of a voltage injection of a rotating multiphase electric machine fed by means of a PWM-controlled inverter.
Beschreibung von Ausführungsbeispielen Fig. 1 zeigt ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zurDESCRIPTION OF EMBODIMENTS FIG. 1 shows an exemplary embodiment of the method according to the invention for
Anpassung einer Amplitude einer Spannungsinjektion einer mittels eines PWM- gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine. Dieses Verfahren kann insbesondere in einem anisotropiebasierten Verfahren genutzt werden, welches die Rotorlage einer mittels eines PWM-gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine, sprich einem Drehstrommotor, bestimmt. Beim erfindungsgemäßen Verfahren wird in einem Verfahrensschritt a zu einem ersten Zeitpunkt ein vorbestimmter Stromvektor bestimmt, welcher zu einem zweiten Zeitpunkt an einer mittels eines PWM-gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine anliegen würde. Der vorbestimmte Stromvektor wird mittels einer Spannungsgleichung der elektrischen Maschine bestimmt. Diese Bestimmung erfolgt in Abhängigkeit von einer in einer Regelung zur Ansteuerung der elektrischen Maschine Adaptation of an amplitude of a voltage injection of a rotating, multi-phase, electrical machine fed by means of a PWM-controlled inverter. This method can be used, in particular, in an anisotropy-based method, which determines the rotor position of a rotating, polyphase, electrical machine, that is to say a three-phase motor, fed by means of a PWM-controlled inverter. In the method according to the invention, a predetermined current vector is determined in a method step a at a first time, which would be present at a second time on a rotating, multi-phase, electric machine fed by means of a PWM-controlled inverter. The predetermined current vector is determined by means of a voltage equation of the electrical machine. This determination is made as a function of a in a control for controlling the electric machine
vorbestimmten Spannung, einem aus zum ersten Zeitpunkt gemessenen Phasenströmen bestimmten Stromvektor und einer Drehzahl der Maschine. Der Stromvektor stellt dabei die transformierten Phasenströme der elektrischen Maschine dar. Anschließend wird in einem Verfahrensschritt b ein zum zweiten Zeitpunkt an der Maschine anliegender realer Stromvektor bestimmt. Hierbei werden die Phasenströme der elektrischen Maschine gemessen und hieraus mittels einer Transformation der reale Stromvektor bestimmt. Aus dem vorbestimmten Stromvektor und dem realen Stromvektor wird in einem predetermined voltage, a current vector measured from phase currents measured at the first time, and a rotational speed of the engine. In this case, the current vector represents the transformed phase currents of the electrical machine. Subsequently, in a method step b, a real current vector applied to the machine at the second time is determined. Here, the phase currents of the electrical machine are measured and determined therefrom by means of a transformation of the real current vector. From the predetermined current vector and the real current vector is in a
Verfahrensschritt c eine Stromvektordifferenz gebildet. Dies kann beispielsweise realisiert werden, indem der zum ersten Zeitpunkt vorbestimmte Stromvektor über ein Verzögerungsglied geleitet wird, welches die Dauer zwischen dem ersten Zeitpunkt und dem zweiten Zeitpunkt überbrückt, und dann zum zweiten Zeitpunkt zusammen mit dem realen Stromvektor zum zweiten Zeitpunkt einem Subtraktionsknoten zugeführt wird, welcher die Stromvektordifferenz bildet. Anschließend wird in einem Verfahrensschritt d die Amplitude der Process step c formed a current vector difference. This can be realized, for example, by passing the current vector predetermined at the first time via a delay element which bridges the duration between the first time and the second time, and then at the second time together with the real current vector is supplied to a subtraction node at the second time, which forms the current vector difference. Subsequently, in a method step d, the amplitude of
Spannungsinjektion in Abhängigkeit von der zuvor gebildeten Voltage injection depending on the previously formed
Stromvektordifferenz angepasst. Dies kann beispielsweise erfolgen indem aus der Stromdifferenz ein Faktor bestimmt wird, welcher zusätzlich in die Modulation der Spannungsinjektion einfließt, die üblicherweise in Abhängigkeit von der berechneten Rotorlage moduliert wird. Anschließend wird das Verfahren beendet. Optional erfolgt zwischen dem Verfahrensschritt c und dem Adjusted current vector difference. This can be done, for example, by determining from the current difference a factor which additionally flows into the modulation of the voltage injection, which is usually modulated as a function of the calculated rotor position. Subsequently, the process is terminated. Optionally, between method step c and
Verfahrensschritt d noch ein Verfahrensschritt e oder auch ein Verfahrensschritt f. Im Verfahrensschritt e wird die Stromvektordifferenz hochpassgefiltert. Im Verfahrensschritt f wird der Betrag der Stromvektordifferenz gebildet, welcher die Länge der Stromvektordifferenz darstellt. Zudem kann im Verfahrensschritt d auch noch die Filtereigenschaften eines Winkelbeobachters des Process step d still a process step e or a process step f. In method step e, the current vector difference is high-pass filtered. In method step f, the magnitude of the current vector difference is formed, which represents the length of the current vector difference. In addition, in the method step d, the filter properties of an angle observer of the
anisotropiebasierten Verfahrens zur Bestimmung der Rotorlage an die Amplitude der Spannungsinjektion angepasst werden. Das Verfahren kann beispielsweise zu jedem neuen Abtastschritt der Regelung der elektrischen Maschine neu gestartet werden, wodurch die Verfahren parallel ablaufen. Anisotropiebasierten method for determining the rotor position are adapted to the amplitude of the voltage injection. The method can be restarted, for example, at each new scanning step of the control of the electric machine, whereby the methods run in parallel.

Claims

Ansprüche Expectations
1. Verfahren zur Anpassung einer Amplitude einer Spannungsinjektion einer mittels eines PWM-gesteuerten Wechselrichters gespeisten, rotierenden, mehrphasigen, elektrischen Maschine mit den Verfahrensschritten: 1. Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase, electrical machine powered by a PWM-controlled inverter with the method steps:
a. Bestimmen eines vorbestimmten Stromvektors zu einem ersten Zeitpunkt, welcher zu einem zweiten Zeitpunkt an der Maschine anliegen würde, mittels einer Spannungsgleichung der elektrischen Maschine, in a. Determining a predetermined current vector at a first time, which would be applied to the machine at a second time, using a voltage equation of the electrical machine, in
Abhängigkeit von einer in einer Regelung zur Ansteuerung der elektrischen Maschine vorbestimmten Spannung, einem aus zum ersten Zeitpunkt gemessenen Phasenströmen bestimmten Stromvektor und einer Drehzahl der Maschine, wobei der erste Zeitpunkt vor dem zweiten Zeitpunkt liegt, Dependence on a voltage predetermined in a control system for controlling the electrical machine, a current vector determined from phase currents measured at the first time and a speed of the machine, the first time being before the second time,
b. Bestimmen eines an der Maschine zum zweiten Zeitpunkt anliegenden realen Stromvektors in Abhängigkeit von zum zweiten Zeitpunkt gemessenen Phasenströmen der Maschine, b. Determining a real current vector applied to the machine at the second time depending on phase currents of the machine measured at the second time,
c. Bilden einer Stromvektordifferenz zwischen dem vorbestimmten c. Forming a current vector difference between the predetermined
Stromvektor und dem realen Stromvektor zum zweiten Zeitpunkt, d. Anpassen der Amplitude der Spannungsinjektion in Abhängigkeit von der gebildeten Strom vektordifferenz. current vector and the real current vector at the second time, i.e. Adjusting the amplitude of the voltage injection depending on the current vector difference formed.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass im 2. The method according to claim 1, characterized in that in
Verfahrensschritt d die Amplitude der Spannungsinjektion derartig angepasst wird, dass je stärker die Stromvektordifferenz von Null abweicht, desto größer wird die Amplitude der Spannungsinjektion gewählt. Method step d, the amplitude of the voltage injection is adjusted such that the more the current vector difference deviates from zero, the larger the amplitude of the voltage injection is selected.
3. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass zwischen dem Verfahrensschritt c und dem Verfahrensschritt d ein Verfahrensschritt e erfolgt, in welchem die Stromvektordifferenz 3. The method according to one of claims 1 or 2, characterized in that between method step c and method step d, a method step e takes place, in which the current vector difference
hochpassgefiltert wird. is high pass filtered.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass zwischen dem Verfahrensschritt c und dem Verfahrensschritt d ein 4. The method according to any one of claims 1 to 3, characterized in that between process step c and process step d
Verfahrensschritt f erfolgt, in welchem der Betrag der Stromvektordifferenz gebildet wird. Process step f takes place, in which the amount of the current vector difference is formed.
PCT/EP2017/059900 2016-06-13 2017-04-26 Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase electric machine, which electric machine is fed by means of a pwm-controlled inverter WO2017215822A1 (en)

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JP2019517142A JP2019522958A (en) 2016-06-13 2017-04-26 Method for adapting the voltage injection amplitude of a rotating multiphase electrical machine powered by a PWM controlled inverter
EP17720451.8A EP3469704B1 (en) 2016-06-13 2017-04-26 Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase electric machine, which electric machine is fed by means of a pwm-controlled inverter
US16/308,808 US10693398B2 (en) 2016-06-13 2017-04-26 Method for adjusting an amplitude of a voltage injection of a rotating, multi-phase electric machine, which electric machine is fed by means of a PWM-controlled inverter

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